基于AR的高压铁塔验收无人机交互技术研究  

Research on UAV Interactive Technology of High-voltage Tower Acceptance Based on AR Technology

作　　者：张四江 李正发 黄林柯 王争辉 张东升[2] Zhang Sijiang;Li Zhengfa;Huang Linke;Wang Zhenghui;Zhang Dongsheng(Construction Branch of Gansu Electric Power Company of State Grid,Lanzhou 730050,China;School of Mechanical Engineering,Xi’an Jiaotong University)

机构地区：[1]国网甘肃省电力公司建设分公司,兰州730050 [2]西安交通大学机械工程学院

出　　处：《单片机与嵌入式系统应用》2023年第6期57-60,共4页Microcontrollers & Embedded Systems

基　　金：国网甘肃省电力公司科技项目—基于AR辅助的高压输电线路转序验收和自动巡检无人机定制化应用(SGTYHT/21 JS 223)。

摘　　要：为改变输电线路铁塔验收的人工登高作业方式,开发了基于AR的铁塔验收无人机系统。首先制订了铁塔无人机验收规范;通过Unity引擎对AR眼镜内部场景进行虚拟化建模,搭配MRTK开发套件,实现跨设备人机交互操作;利用AR眼镜设计人的头部自然动作与无人机控制指令间的映射规则,通过局域网RTSP串流将无人机拍摄的视频发送到AR眼镜,相当于无人机带着人的眼睛开展铁塔验收工作,解决了传统无人机巡检难以应用于铁塔验收的难题。In order to solve the problems caused by the manual climbing operation mode of tower acceptance,a UAV interactive system is designed and developed based on augmented reality technology.First of all,the UAV acceptance specifications of the tower are formulated.The system uses augmented reality technology to carry out virtual modeling of AR glasses internal scenes through Unity engine,and realizes cross-device human-machine interaction operation with MRTK development.The mapping rules between the natural movements of human head and the control commands of UAV are designed by using AR glasses,translating and the RTSP streams the video shot by UAV to AR glasses through LAN sending the video captured by UAV to the AR glasses via LAN RTSP streaming.The system is equivalent to the UAV with human eyes carrying out the acceptance work of the tower,which solves the problem that the traditional UAV inspection is difficult to be applied to the acceptance of the tower.

关 键 词：增强现实 铁塔验收 无人机 姿态映射 

分 类 号：TM755[电气工程—电力系统及自动化]